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Senior Project: Robotics. USM 2009. The Project. Four Members 2 ELE, 2 MEE. Two Parts Hardware and Software. Nine Months Sept 08 – May 09. The Team. Advisor Carlos Luck. Hardware JC Westby-Gibson (ELE) Levi Chouinard (MEE). Software Mike Nelson (MEE)

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Presentation Transcript

The project
The Project

  • Four Members

    2 ELE, 2 MEE

  • Two Parts

    Hardware and Software

  • Nine Months

    Sept 08 – May 09


The team
The Team

  • Advisor

    • Carlos Luck

  • Hardware

    JC Westby-Gibson (ELE)

    Levi Chouinard (MEE)

  • Software

    • Mike Nelson (MEE)

    • Dan Boissonneault (ELE)


Deadlines
Deadlines

  • Progress Report (end of semester 1)

  • EGN 301 Presentation (today)

  • National Engineering Week (next Sat.)

  • Thinking Matters (April 19th)

  • Final Report / Presentation (final day)


S o ftware
Software


The problem
The Problem

Staubli, Controller, and Terminal / PC

Scara, Controller, and Terminal / PC

Two clients are required, one for each manipulator, controller, and terminal combination


Simple solution
Simple Solution

Control Unit

Java

Control Unit


At a glance
At a Glance

  • Interacts with the controllers via serial cables*

  • Controllers have a preloaded receiving program

  • Allows manipulators to be accessed through dot ops ( robot1.move)

  • Allows manipulators to be grouped, making identical calls to multiple manipulators very easy.

* Interaction through the network is possible, but would require some hardware replacement (030 to 040 processor on the Staubli)


The java model
The Java Model

  • Manipulator

  • Variable Name

  • IO Connection

  • Manipulator Group

  • Quick access to all manipulators within

  • IO Client

  • Connect to controller

  • Disconnect from con.

  • Send byte array

  • Receive byte array

  • Communication Listener

  • What and from whom?


Communication
Communication

Control Unit

  • Communication Listener

  • event occured

Send()

addListener()

Connect()

Receive()

  • IO Client

  • connect

  • disconnect

  • send

  • receive

  • add listener

Receive()

Manipulator.send()

Manipulator.send()


Adept program
Adept Program

  • Simple string comparisons choose a program to run.

  • Looks for data on the serial port, executes on that data then returns to the serial port.


Adept program cont
Adept Program (cont)

Control Unit

“move”

“pick”

“reset”







Universal end effector modifications and the creation of interactive objects
Universal End Effector Modifications and the Creation of Interactive Objects


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